Indoor multi-object positioning system and method based on RSSI (receiver signal strength indicator) and inertia measurement

The invention discloses an indoor multi-object positioning system and method based on an RSSI (receiver signal strength indicator) and inertia measurement. The system is provided with three components: a positioning server, positioning anchor anodes and positioners, integrates positioning data of an RSSI method and the positioning data of an inertia measurement method, and then executes dynamic correction on the positions of the positioning anchor nodes and the positioners so as to reduce system positioning errors, improve system positioning precision and enhance system positioning stability. According to the invention, by use of a characteristic that anchor node positions are relatively fixed in a progressive maximum positioning process, through increasing measuring time and reducing the influence of environment accidental factors on the RSSI, the RSSI measuring precision of the anchor nodes is improved. During a positioning measuring process, period correction is performed on the positions of each stage of anchor nodes by use of new range finding signal values so that the stability and the accuracy of the positioning system are improved. Besides, the two methods of a RSSI propagation model and the inertia measurement are utilized for data fusion and positioning, so that the strengths of the two can be integrated, and the positioning precision is higher.